Modify rc_is_open logic.

rm-controls · Mar 31, 2024 · e062d10 · e062d10
1 parent 85f747c
commit e062d10
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/rm_dbus/include/rm_dbus/dbus.h b/rm_dbus/include/rm_dbus/dbus.h
@@ -76,8 +76,7 @@ class DBus
   int16_t buff_[18]{};
   bool is_success{};
   bool is_update_ = false;
-  static ros::Time last_update_time_;
   void unpack();
 };
 
-#endif  // SRC_RM_BRIDGE_INCLUDE_RT_RT_DBUS_H_
+#endif  // SRC_RM_BASE_INCLUDE_RT_RT_DBUS_H_
diff --git a/rm_dbus/src/dbus.cpp b/rm_dbus/src/dbus.cpp
@@ -168,6 +168,7 @@ void DBus::unpack()
   is_success = true;
 }
 
+static ros::Time last_update_time_;
 void DBus::getData(rm_msgs::DbusData& d_bus_data) const
 {
   if (is_success)
@@ -212,12 +213,12 @@ void DBus::getData(rm_msgs::DbusData& d_bus_data) const
         if (!d_bus_data.rc_is_open)
           d_bus_data.rc_is_open = !d_bus_data.rc_is_open;
       }
-      else
-      {
-        if (d_bus_data.rc_is_open)
-          d_bus_data.rc_is_open = !d_bus_data.rc_is_open;
-      }
       last_update_time_ = ros::Time::now();
     }
+    else
+    {
+      if (d_bus_data.rc_is_open)
+        d_bus_data.rc_is_open = !d_bus_data.rc_is_open;
+    }
   }
 }